A New Approach towards Vision Suggested by Biologically Realistic Neural Microcircuit Models
BMCV '02 Proceedings of the Second International Workshop on Biologically Motivated Computer Vision
A modular architecture for a multi-purpose mobile robot
IEA/AIE'2004 Proceedings of the 17th international conference on Innovations in applied artificial intelligence
Nonlinear transient computation
Neurocomputing
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Prediction is an important task in robot motor control where it is used to gain feedback for a controller. With such a self-generated feedback, which is available before sensor readings from an environment can be processed, a controller can be stabilized and thus the performance of a moving robot in a real-world environment is improved. So far, only experiments with artificially generated data have shown good results. In a sequence of experiments we evaluate whether a liquid state machine in combination with a supervised learning algorithm can be used to predict ball trajectories with input data coming from a video camera mounted on a robot participating in the RoboCup. This pre-processed video data is fed into a recurrent spiking neural network. Connections to some output neurons are trained by linear regression to predict the position of a ball in various time steps ahead. Our results support the idea that learning with a liquid state machine can be applied not only to designed data but also to real, noisy data.